文档介绍：毕业设计说明书
毕业设计评阅书
题目:机器手夹持器设计
设计时间:2013年03月11日~2013年05月26日
摘要
机械手夹持器它具有夹持物件和剪切缆索的双重功能适用于有这两种功能需要的机械手特别适用于水下机械手可以顺利进行水下作业。本实用新型是在一种普通的机械手夹持器臂上安装一对能剪切的刀片当手掌闭合运动时刀片作剪切运动达到在夹持的同时完成剪切动作。本文采用手指式夹持器执行动作为抓紧—放松所要抓紧的工件直径为60-80mm 放松时的两抓的最大距离为150mm1s抓紧夹持速度10-20mm/s工件的最大重量为5kg材质为45#钢。主要研究内容是分析机械手夹持器的原理确定夹持器与
伸缩臂总体方案完成驱动结构的设计方案对总体结构设计、主要部件的受力分析和强度校核对驱动结构设计方案原理图整体结构装配图的设计。
关键词:机械手、夹持器、装配图
ABSTRACT
The mechanical arm gripping device, it has a clamping objects and shear cable dualfunction, applicable to the two functions required mechanical hand, is particularly suitable for underwater manipulator, can smoothly operate under water. The utility model is in mon mechanical hand gripper arm mounted on a pair of cutting blades, when the palm is closed when in motion, the blade shearing movement, achieve in the clamping pleting a shearing action.
This paper uses the finger gripper, performing as Clutch - relax to hold the workpiece diameter of60-80mm relaxation time two grasping the maximum distance for150mm,1s clutch, clamping speed 10-20mm / S; the workpiece maximum weight is 5kg, materials for the 45# steel. The main research content is the analysis of manipulator gripper principle; determine the gripper and the telescopic arm plete the drive scheme; structure design; the overall structure design, the ponents of the stress analysis and strength check; to drive structure design, schematic diagram, the overall structure of the design of assembly drawing.
Keywords: manipulator; gripper; assembly drawi
目录
摘要 1
ABSTRACT 2
第一章引言 5
背景及意义 5
第二章夹持器 7
7
7
. 7
8
9
10
10
14
14
15
15
16
16
16
第三章腕部 18
18
18
20
20
21
23
23
25